CN112526496A

CN112526496A - Measurement information acquisition method, device and equipment

Info

Publication number: CN112526496A
Application number: CN202011440171.8A
Authority: CN
Inventors: 桂杰; 冯际彬
Original assignee: Beijing Juli Science and Technology Co Ltd
Current assignee: Beijing Juli Science and Technology Co Ltd
Priority date: 2020-12-11
Filing date: 2020-12-11
Publication date: 2021-03-19

Abstract

The embodiment of the application provides a method, a device and equipment for obtaining measurement information, which are applied to radar, wherein the radar comprises a plurality of groups of transmitting antennas and a group of receiving antennas, and the method comprises the following steps: controlling a plurality of groups of transmitting antennas to respectively transmit transmitting signals according to a target transmitting sequence, wherein the target transmitting sequence and a remainder sequence corresponding to the target transmitting sequence meet a preset condition, and the remainder sequence is obtained by sequencing antenna numbers of the plurality of groups of transmitting antennas according to the target transmitting sequence; receiving an echo signal through a receiving antenna, wherein the echo signal is obtained by mixing a plurality of transmitting signals; and processing the echo signal to determine the measurement information of the target object. The accuracy of the measurement information of the target object is improved.

Description

Measurement information acquisition method, device and equipment

Technical Field

The embodiment of the application relates to the technical field of radars, in particular to a method, a device and equipment for obtaining measurement information.

Background

The millimeter wave radar may be used to monitor the position and speed of a target object (e.g., a vehicle), and in detecting the target object, the millimeter wave radar may transmit an electromagnetic wave signal to the target object through a transmitting antenna and receive an echo signal through a receiving antenna, thereby acquiring measurement information of the target object with respect to the radar, such as a pitch angle, position information, or speed.

In the prior art, a millimeter wave radar is provided with multiple groups of transmitting antennas and at least one group of receiving antennas with the same spacing, when measurement information of a target object is obtained, the multiple groups of transmitting antennas sequentially transmit electromagnetic wave signals, the transmitting antennas transmit multiple paths of electromagnetic wave signals in a Time Division Multiplexing (TDM) manner, Fast Fourier Transform (FFT) is performed on the multiple paths of electromagnetic wave signals to obtain the amplitude and phase of an effective signal, and the measurement information of the target object is determined according to the amplitude and phase of the effective signal. In the process, the electromagnetic wave signals are sequentially transmitted by the multiple groups of equidistant transmitting antennas, so that the equal-difference Doppler phases are generated, the problem of speed ambiguity in the FFT process is further caused, and the measurement information of the target object is inaccurate.

Disclosure of Invention

The embodiment of the application provides a method, a device and equipment for acquiring measurement information, which are used for improving the accuracy of the measurement information of a target object.

In a first aspect, an embodiment of the present application provides a measurement information obtaining method, which is applied to a radar, where the radar includes multiple sets of transmitting antennas and at least one set of receiving antennas at equal intervals, and the method includes:

controlling the multiple groups of transmitting antennas to respectively transmit transmitting signals according to a target transmitting sequence, wherein the target transmitting sequence and a remainder sequence corresponding to the target transmitting sequence meet a preset condition, and the remainder sequence is obtained by sequencing antenna numbers of the multiple groups of transmitting antennas according to the target transmitting sequence;

receiving an echo signal through the receiving antenna, wherein the echo signal is obtained by mixing a plurality of transmitting signals;

and processing the echo signal to determine the measurement information of the target object.

In a possible implementation manner, before the controlling the plurality of groups of transmitting antennas to respectively transmit the transmitting signals according to the target transmitting order, determining the target transmitting order of the plurality of groups of transmitting antennas further includes:

determining a transmission sequence to be selected;

acquiring antenna numbers of the multiple groups of transmitting antennas, wherein the antenna numbers of the multiple groups of transmitting antennas correspond to the to-be-selected transmitting sequence of the multiple groups of transmitting antennas;

sequencing the antenna numbers of the plurality of groups of transmitting antennas according to the transmitting sequence to be selected to obtain a remainder sequence corresponding to the transmitting sequence to be selected;

and determining the target transmitting sequence according to the to-be-selected transmitting sequence and the remainder sequence corresponding to the to-be-selected transmitting sequence.

In one possible embodiment, the transmission order to be selected includes an order number; the sequencing the antenna numbers of the plurality of groups of transmitting antennas according to the to-be-selected transmitting sequence to obtain a remainder sequence corresponding to the to-be-selected transmitting sequence, comprising:

determining an antenna number corresponding to each sequence number in the transmission sequence to be selected aiming at the transmission sequence to be selected;

and sequentially arranging the antenna numbers according to the increasing sequence of the sequence numbers corresponding to the antenna numbers to obtain the remaining sequence corresponding to the to-be-selected transmitting sequence.

In one possible implementation, the remainder order includes a remainder number; determining the target transmitting sequence according to the to-be-selected transmitting sequence and the remainder sequence corresponding to the to-be-selected transmitting sequence, wherein the determining the target transmitting sequence comprises:

determining a remainder number corresponding to each sequence number in the to-be-selected transmitting sequence in the remainder sequence corresponding to the to-be-selected transmitting sequence;

and comparing the sequence numbers with the remainder numbers, and if each sequence number in the to-be-selected transmitting sequence is different from the corresponding remainder number, determining the to-be-selected transmitting sequence as the target transmitting sequence.

In a possible embodiment, the processing the echo signal to determine the measurement information of the target object includes:

performing phase compensation on the echo signal to obtain a compensated signal;

performing Fast Fourier Transform (FFT) on the compensated signal to obtain a transformed signal;

determining the measurement information from the transformed signal.

In a possible embodiment, the determining the measurement information according to the transformed signal includes:

acquiring the fuzzy times of the transformed signal;

and determining the measurement information according to the fuzzy times.

In a second aspect, an embodiment of the present application provides a measurement information obtaining apparatus, which is applied to a radar including multiple sets of transmitting antennas and at least one set of receiving antennas that are equally spaced, where the apparatus includes:

the control module is used for controlling the multiple groups of transmitting antennas to respectively transmit transmitting signals according to a target transmitting sequence, wherein the target transmitting sequence and a remainder sequence corresponding to the target transmitting sequence meet a preset condition, and the remainder sequence is obtained by sequencing antenna numbers of the multiple groups of transmitting antennas according to the target transmitting sequence;

the receiving module is used for receiving an echo signal through the receiving antenna, wherein the echo signal is obtained by mixing a plurality of transmitting signals;

and the processing module is used for processing the echo signal and determining the measurement information of the target object.

In a possible implementation manner, the apparatus further includes a determining module, where the determining module is configured to determine a target transmission order of the multiple groups of transmission antennas, and the determining module is specifically configured to:

determining a transmission sequence to be selected;

In one possible embodiment, the transmission order to be selected includes an order number; the determining module is specifically configured to:

In one possible implementation, the remainder order includes a remainder number; the determining module is specifically configured to:

In a possible implementation, the processing module is specifically configured to:

determining the measurement information from the transformed signal.

acquiring the fuzzy times of the transformed signal;

and determining the measurement information according to the fuzzy times.

In a third aspect, an embodiment of the present application provides a measurement information acquiring apparatus, including: at least one processor and memory;

the memory is to store computer program instructions;

the at least one processor is configured to execute the computer program instructions stored by the memory, so that the at least one processor performs the measurement information acquisition method according to any one of the first aspect.

In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, where computer program instructions are stored, and when a processor executes the computer program instructions, the measurement information acquisition method according to any one of the first aspect is implemented.

In a fifth aspect, the present application provides a computer program product, which includes a computer program that, when executed by a processor, implements the measurement information acquiring method according to any one of the first aspect.

The embodiment of the application provides a measurement information obtaining method, a measurement information obtaining device and measurement information obtaining equipment, and the measurement information obtaining method, the measurement information obtaining device and the measurement information obtaining equipment are applied to radars. In the process, the transmitting sequence of the plurality of groups of transmitting antennas is changed, the transmitting is not performed according to the arrangement sequence of the transmitting antennas, but the transmitting sequence is changed into an irregular transmitting sequence, so that the equal difference characteristic of a compensation coefficient in the phase compensation process is damaged in the process of processing the echo signal, a unique signal with a normal peak value can be generated in the FFT process only when the phase compensation is correct, and the measurement information of the target object is determined according to the signal.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.

Fig. 1 is a schematic structural diagram of a radar provided in an embodiment of the present application;

fig. 2 is a schematic diagram of a measurement performed on a target object according to an embodiment of the present application;

fig. 3 is a schematic structural diagram of a millimeter wave radar according to an embodiment of the present disclosure;

fig. 4 is a schematic flowchart of a measurement information obtaining method according to an embodiment of the present disclosure;

fig. 5 is a schematic flowchart of determining a target transmission sequence of multiple groups of transmitting antennas according to an embodiment of the present application;

fig. 6 is a schematic flowchart of another measurement information obtaining method according to an embodiment of the present disclosure;

FIG. 7 is a diagram illustrating phase compensation of an echo signal according to the prior art;

FIG. 8 is a schematic diagram of phase compensation of echo signals according to the present application;

fig. 9 is a schematic structural diagram of a measurement information acquiring apparatus according to an embodiment of the present application;

fig. 10 is a schematic structural diagram of another measurement information acquisition device according to an embodiment of the present application;

fig. 11 is a schematic diagram of a hardware structure of a measurement information acquiring apparatus according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

For better understanding of the technical solutions of the present application, the background art related to the present application will be described in further detail first.

In the field of safe driving of automobiles, radars are becoming indispensable important sensors, and for example, the radars may be millimeter-wave radars. The millimeter wave radar may detect position information and velocity of the target object, wherein the position information includes a pitch angle and an azimuth angle. In detecting the target object, the millimeter wave radar may transmit an electromagnetic wave signal to the target object through the transmitting antenna, and receive an echo signal through the receiving antenna, and determine measurement information of the target object with respect to the radar from the echo signal, for example, the measurement information may include position information, velocity, or pitch angle, or the like.

In practical application, the millimeter wave radar may be provided with a plurality of sets of transmitting antennas with the same spacing and a set of receiving antennas. When the measurement information of the target object is obtained, a plurality of groups of transmitting antennas sequentially transmit electromagnetic wave signals in a TDM mode, a receiving antenna receives a plurality of paths of electromagnetic wave signals, FFT is carried out on the paths of electromagnetic wave signals, and therefore the amplitude and the phase of effective signals are obtained, and finally the measurement information of the target object is obtained according to the amplitude and the phase of the effective signals.

In the process of determining the measurement information of the target object, because the distances between the plurality of groups of transmitting antennas are the same, when electromagnetic wave signals are transmitted in sequence, an equal-difference doppler phase occurs, and further, when a velocity dimension FFT is obtained, an equivalent repetition period is lengthened, and further, a problem of velocity ambiguity occurs, and the measurement information of the target object is inaccurate.

Based on the problems introduced above, the present application proposes the following technical idea: the method comprises the steps of changing the transmitting sequence of a plurality of groups of transmitting antennas, not transmitting according to the arranging sequence of the transmitting antennas, but changing the transmitting sequence into an irregular transmitting sequence, so that in the process of processing echo signals, the equal difference characteristic of a compensation coefficient in the phase compensation process is damaged, only when the phase compensation is correct, a unique signal with a normal peak value can appear in the FFT process, and therefore the measuring information of a target object is determined according to the signal.

An application scenario of the measurement information obtaining method provided by the embodiment of the present application is described below with reference to fig. 1 and fig. 2.

Fig. 1 is a schematic structural diagram of a radar provided in an embodiment of the present application. Referring to fig. 1, the radar may be a millimeter-wave radar, and the millimeter-wave radar may include a plurality of sets of transmitting antennas 101 (shown as 6 sets by way of example), receiving antennas 102, and a controller 103, wherein,

the transmitting antenna 101 may transmit an electromagnetic wave signal. For convenience of description, the electromagnetic wave signal transmitted by the transmitting antenna 101 will be hereinafter referred to as a transmission signal. The transmitting antenna 101 may transmit signals in multiple directions, for example, the controller 103 may control the transmitting antenna to transmit signals in different directions. After the transmission signal reaches the obstacle, the obstacle reflects the transmission signal, and the signal reflected by the obstacle can be referred to as an echo signal. The millimeter wave radar may include a plurality of transmission antennas 101, and the plurality of transmission antennas 101 may be disposed at different positions, for example, the plurality of transmission antennas may be arranged at equal distances.

The receiving antenna 102 can perform signal reception. The receive antenna 102 may receive echo signals and interference signals. The echo signal may be obtained by mixing a plurality of transmitting signals, and the interference signal may include an environmental noise signal, a malicious attack signal, a signal reflected by an obstacle from a transmitting signal of another millimeter wave radar, and the like. One or more receiving antennas 102 may be included in millimeter-wave radar 100, and when multiple receiving antennas 102 are included in millimeter-wave radar 100, multiple receiving antennas 102 may be disposed at different positions, so that more echo signals reflected by a detection target may be received by receiving antennas 102.

The controller 103 may acquire the signals received by the receiving antenna 102 and determine an echo signal among the signals received by the receiving antenna 102. The controller 103 may also acquire a signal transmitted by the transmitting antenna 101 and measure a target object (obstacle) based on the transmitted signal and the echo signal. The measuring of the target object may include: the velocity of the target object (speed measurement), the distance between the target object and the radar (range measurement), the position of the target object (azimuth angle and pitch angle), and the like. The target object may be a person, a vehicle, an airplane, etc.

It should be noted that fig. 1 illustrates components included in the millimeter wave radar 100 by way of example, and does not limit the millimeter wave radar 100.

In the following, referring to fig. 2, taking the target object as a vehicle as an example, an application scenario of the present application is exemplarily described, and it should be noted that when the target object is the rest of objects, an implementation manner thereof is similar, and details thereof are not repeated here.

Fig. 2 is a schematic diagram of measuring a target object according to an embodiment of the present application. Referring to fig. 2, including the millimeter-wave radar 100 and the target object 200, when the signal transmitted by the transmitting antenna reaches the target object, the target object reflects the transmitted signal, and the reflected signal reaches the receiving antenna. Measurement information between the millimeter wave radar and the target object, such as the speed of the target object, the distance between the target object and the radar, the position of the target object, and the like, is determined from the time when the transmitting antenna transmits the signal, the time when the receiving antenna receives the reflected signal, and the speed of the electromagnetic wave.

It should be noted that fig. 2 illustrates an application scenario to which the present application is applied by way of example only, and is not limited to the application scenario.

The technical means shown in the present application will be described in detail below with reference to specific examples. It should be noted that the following embodiments may be combined with each other, and the description of the same or similar contents in different embodiments is not repeated.

Based on the application scenario described above, the structure of the millimeter wave radar provided in the embodiment of the present application is described below with reference to fig. 3.

Fig. 3 is a schematic structural diagram of a millimeter wave radar according to an embodiment of the present application. Referring to fig. 3, the millimeter wave radar 100 may include: a plurality of transmitting antennas 101 (6 are shown as an example in the figure), one receiving antenna 102 and a controller 103. The plurality of transmitting antennas 101 are arranged in a row at a preset interval, and the transmitting antennas 101 are configured to generate and transmit a plurality of transmitting signals, where characteristics of the plurality of transmitting signals may be the same, and the characteristics include amplitude, frequency, or phase. The receiving antenna 102 is used for receiving echo signals. The controller 103 is configured to process the echo signal to obtain an effective signal, and determine measurement information of the target object according to the amplitude and the phase of the effective signal.

Next, on the basis of the structure shown in fig. 3, a detailed description is given of a measurement information acquisition method provided in the embodiment of the present application with reference to fig. 4.

Fig. 4 is a schematic flowchart of a measurement information obtaining method according to an embodiment of the present application. Referring to fig. 4, the method may include:

s401, controlling a plurality of groups of transmitting antennas to respectively transmit transmitting signals according to a target transmitting sequence.

The execution subject of the embodiment of the application may be a controller in a millimeter wave radar, or a measurement information acquisition device in a controller. Alternatively, the measurement information acquiring means may be implemented by software, or may be implemented by a combination of software and hardware. Next, the following description will be given taking an example in which the execution body is a controller.

Millimeter-wave radars are radars that operate in the millimeter-wave frequency range. Millimeter-Wave (MMW) refers to electromagnetic waves with a length of 1-10 mm, and the corresponding frequency range is 30-300 GHz. The millimeter wave is located in the overlapping wavelength range of microwave and far infrared wave, so the millimeter wave has the advantages of both the two wave spectrums. Millimeter wave radar is a sensor that can operate around the clock and all day.

The transmitting antenna is used for transmitting electromagnetic wave signals. The transmit antenna may transmit signals in multiple directions, for example, the controller may control the transmit antenna to transmit signals in different directions. The transmitting antenna may transmit different types of electromagnetic wave signals, for example, the transmitting antenna may transmit meter wave signals, decimeter wave signals, millimeter wave signals, and the like. The plurality of transmitting antennas may be arranged in an array, for example, the plurality of transmitting antennas may be arranged at the same distance to form an array, and the array may be one or more columns.

The transmission sequence is the sequence in which the plurality of groups of transmitting antennas transmit signals. When the multiple groups of transmitting antennas transmit signals, the signals can be transmitted according to the arrangement sequence, and also can be transmitted according to a preset rule. For example, as shown in fig. 3, the number of the transmitting antennas is 6, and accordingly, the transmitting order may be determined as 1, 2, 3, 4, 5, 6 according to the arrangement order of the transmitting antennas, or may be other orders, for example, 1, 2, 3, 6, 5, 4.

Optionally, before controlling the multiple groups of transmitting antennas to respectively transmit the transmitting signals according to the target transmitting sequence, the method may further include:

s401a, determining the target transmitting sequence of the multiple groups of transmitting antennas.

The target transmitting sequence is a transmitting sequence determined from the multiple groups of transmitting sequences, and the target transmitting sequence and a remainder sequence corresponding to the target transmitting sequence meet a preset condition, wherein the remainder sequence is obtained after sequencing antenna numbers of multiple groups of transmitting antennas according to the target transmitting sequence, and the preset condition can be that: the target transmission order cannot be an arithmetic progression, and the remaining order corresponding to the target transmission order may not overlap, further, the first one of the target transmission orders is 1, for example, when the number of the transmitting antennas is six and the antenna number of the transmitting antenna is 012345, the target transmission order may be 164325, at this time, the remaining order corresponding to the target transmission order is 043251, and the target transmission order and the remaining order do not overlap;

next, after this embodiment, a detailed description is given to a possible implementation manner of determining a target transmission order of multiple groups of transmission antennas, which is not described herein again, with reference to fig. 5.

Optionally, after the transmission signal reaches the target object (or the obstacle), the target object (or the obstacle) may reflect the transmission signal, and the direction of the reflection may be any direction.

Alternatively, the transmission signal may be a sinusoidal signal or a pulse signal. The frequency of the transmitted signal may be low frequency, high frequency, ultra high frequency, etc.

Optionally, the characteristics of the transmission signals sent by the multiple groups of transmission antennas may be the same or different. The characteristics of the transmitted signal may include at least one of: amplitude, frequency, or initial phase of the transmitted signal.

Optionally, the following feasible implementation manners may be used to control the multiple groups of transmitting antennas to respectively transmit the transmitting signals according to the target transmitting sequence: and acquiring a target transmitting sequence, and controlling a plurality of groups of transmitting antennas to transmit transmitting signals in turn according to the target transmitting sequence.

For example, when the number of the transmitting antennas is 3 groups, the numbers of the transmitting antennas are 0, 1 and 2, and the obtained target transmitting sequence is 1, 3 and 2, then the transmitting antenna with the number of 0 is controlled to transmit the first signal first, then the transmitting antenna with the number of 2 is controlled to transmit the second signal, then the transmitting antenna with the number of 1 is controlled to transmit the third signal, and then the transmitting antenna with the number of 0 is controlled to continue to transmit the first signal.

The multiple transmission signals sent by the multiple groups of transmission antennas may be separated by a preset phase. For example, the phase difference of adjacent ones of the plurality of transmission signals may be

S402, receiving the echo signal through a receiving antenna.

The signal transmitted by the target object to the transmission signal may be referred to as an echo signal, and the echo signal may be obtained by mixing a plurality of transmission signals.

In practical application, the controller can receive the echo signal in real time through the receiving antenna.

And S403, processing the echo signal and determining the measurement information of the target object.

Alternatively, the target object may be any object that needs to acquire measurement information, where the measurement signal may include at least one of the following: position, velocity or pitch angle with respect to the radar. For example, the target object may be a vehicle, a person, an airplane, and the like.

Optionally, when the measurement signal is a position, the controller may determine the position of the target object according to information such as a time difference between the transmission signal and the echo signal, and a speed of the echo signal;

optionally, when the measurement signal is a velocity, the controller may determine a doppler frequency according to the frequency of the transmission signal and the frequency of the echo signal, where the doppler frequency is a difference between the frequency of the transmission signal and the frequency of the echo signal, determine a distance change rate of the target object relative to the radar according to the doppler frequency, and further determine the velocity of the target object according to the distance change rate.

Optionally, when the measurement signal is a pitch angle, the pitch angle of the target object relative to the radar may be determined according to a phase difference between the plurality of transmission signals, or the pitch angle of the target object relative to the radar may be determined according to an amplitude difference between the plurality of transmission signals.

Optionally, when the pitch angle of the target object relative to the radar is determined according to the phase difference between the transmission signals of the plurality of transmission antennas, the pitch angle may be obtained according to the phase difference between the transmission signals of non-adjacent transmission antennas of the plurality of transmission antennas, and then the unambiguous range is determined according to the transmission signals of adjacent transmission antennas of the plurality of transmission antennas, and the range of the target object can be resolved without the ambiguous range.

Optionally, the echo signal may be processed in a feasible implementation manner to determine measurement information of the target object as follows: carrying out phase compensation on the echo signals to obtain compensated signals; performing Fast Fourier Transform (FFT) on the compensated signal to obtain a transformed signal; measurement information is determined from the transformed signal.

Wherein the phase compensation is used to eliminate doppler phase, time difference of signals transmitted by a plurality of equally spaced transmitting antennas and motion of the target object relative to the radar may cause equally spaced doppler phases to occur. When the speed is not fuzzy, the echo signal is subjected to phase compensation to obtain a compensated signal, and the compensated signal is processed to determine and obtain the measurement information of the target object. When the phase compensation is accurate, the measurement information of the target object can be accurately determined through the compensated phase; when the phase compensation is not accurate, the compensated phase results in signal to noise ratio loss and side lobe elevation during fast fourier transform, and further results in inaccurate angle measurement of the pitch dimension FFT.

When the measurement information of the target object is the speed, the compensated signal can be subjected to speed dimension FFT, the amplitude and the phase of the effective signal are determined according to the signal obtained by the speed dimension FFT, and the speed of the target object can be determined according to the amplitude and the phase of the effective signal;

when the measurement information of the target object is a pitch angle, performing pitch dimension FFT on the compensated signal, determining the amplitude and the phase of the effective signal according to the pitch dimension FFT, and determining the pitch angle of the target object according to the amplitude and the phase of the effective signal;

when the measurement information of the target object is a position, the controller may perform an azimuth dimension FFT on the compensated signal, determine the amplitude and the phase of the effective signal according to the azimuth dimension FFT, and determine the position of the target object according to the information such as the amplitude and the phase of the effective signal, the signal time difference, and the velocity of the effective signal, where the position of the target object may include a distance and an azimuth angle of the target object.

The embodiment of the application provides a measurement information acquisition method, which is applied to a radar, wherein the radar comprises a plurality of groups of transmitting antennas and at least one group of receiving antennas which are equidistant, when the measurement information of a target object is determined, the plurality of groups of transmitting antennas can be controlled according to a target transmitting sequence to respectively transmit transmitting signals, echo signals are received through the receiving antennas, the echo signals are obtained by mixing a plurality of transmitting signals, the echo signals are processed, and the measurement information of the target object is determined, wherein the remaining sequence corresponding to the target transmitting sequence and the target transmitting sequence meets a preset condition, and the remaining sequence is obtained by sequencing antenna numbers of the plurality of groups of transmitting antennas according to the target transmitting sequence. In the process, the transmitting sequence of the plurality of groups of transmitting antennas is changed, the transmitting is not performed according to the arrangement sequence of the transmitting antennas, but the transmitting sequence is changed into an irregular transmitting sequence, so that the equal difference characteristic of a compensation coefficient in the phase compensation process is damaged in the process of processing the echo signal, a unique signal with a normal peak value can be generated in the FFT process only when the phase compensation is correct, and the measurement information of the target object is determined according to the signal.

On the basis of the foregoing embodiments, a possible implementation manner for determining the target transmission order of multiple groups of transmitting antennas provided in the embodiments of the present application is described in detail below with reference to fig. 5.

Fig. 5 is a flowchart illustrating a process of determining a target transmission sequence of multiple groups of transmitting antennas according to an embodiment of the present application. Referring to fig. 5, the method includes:

s501, determining a transmission sequence to be selected.

The transmission order to be selected may be determined according to the number of transmit antennas. The plurality of candidate transmission sequences may be determined by the following feasible implementation: the method comprises the steps of obtaining the number of transmitting antennas, carrying out permutation operation according to data of the transmitting antennas, and determining a plurality of transmitting sequences to be selected according to operation results.

For example, when the number of transmission antennas is 3 groups, the first one in the transmission order is 1, which is subjected to permutation operation

Determining that the number of the transmission sequences to be selected is 2, wherein the 2 transmission sequences to be selected are respectively as follows: 1. 2, 3, 1, 3 and 2.

S502, acquiring antenna numbers of a plurality of groups of transmitting antennas.

The antenna number is used to identify different transmitting antennas, the antenna number may be a number, the antenna number may start from 0 and increment according to an arithmetic progression, and the value of a single increment is 1, for example, when the number of the transmitting antennas is six groups, the numbers of the transmitting antennas may be 0, 1, 2, 3, 4, and 5, respectively. Of course, the antenna number may be in other forms, and the present application is not limited to this.

The arrangement sequence of the transmitting antennas may be an arrangement sequence with equal intervals, and specifically, the plurality of groups of transmitting antennas may be sequentially arranged in one or more rows with equal intervals. For example, the transmitting antennas may be arranged in the order of 1, 2, 3, 4, 5, 6.

The antenna numbers of the plurality of groups of transmitting antennas correspond to the to-be-selected transmitting sequence of the plurality of groups of transmitting antennas. For example, the to-be-selected transmission sequence of the multiple groups of transmission antennas is 1, 4, 5, 2, 3, 6, the antenna numbers of the multiple groups of transmission antennas are 0, 1, 2, 3, 4, 5, respectively, where 1 in the to-be-selected transmission sequence corresponds to 0 in the antenna numbers, 4 in the to-be-selected transmission sequence corresponds to 1 in the antenna numbers, 5 in the to-be-selected transmission sequence corresponds to 2 in the antenna numbers, 2 in the to-be-selected transmission sequence corresponds to 3 in the antenna numbers, 3 in the to-be-selected transmission sequence corresponds to 4 in the antenna numbers, and 6 in the to-be-selected transmission sequence corresponds to 5 in the antenna numbers.

S503, according to the emission sequence to be selected, the antenna numbers of the plurality of groups of emission antennas are sequenced, and the remainder sequence corresponding to the emission sequence to be selected is obtained.

Optionally, the remainder sequence is used to determine a compensation coefficient in the phase compensation process, and the remainder sequence is obtained by sorting antenna numbers of the multiple groups of transmitting antennas according to the target transmitting sequence. In the prior art, the compensation coefficients are determined according to the number of the antenna, and in the present application, the compensation coefficients are determined according to the order of the remainders.

Optionally, the transmission sequence to be selected may include sequence numbers, where the sequence numbers are used to identify the transmission sequence to be selected, and the number of the sequence numbers may be the same as the number of the transmission antennas, and further, the sequence numbers may be arranged according to an increasing sequence. For example, when the transmission sequence to be selected is 1, 6, 4, 3, 2, and 5, there may be six sequence numbers, and correspondingly, the sequence numbers are 1, 6, 4, 3, 2, and 5, respectively, and further, the sequence numbers may be arranged according to an increasing order, so as to obtain the arranged sequence numbers as: 1. 2, 3, 4, 5 and 6.

Optionally, the antenna numbers of the multiple groups of transmitting antennas may be sorted according to the transmission order to be selected by the following feasible implementation manner, so as to obtain a remainder order corresponding to the transmission order to be selected: determining an antenna number corresponding to each sequence number in the transmission sequence to be selected aiming at the transmission sequence to be selected; and sequentially arranging the antenna numbers according to the increasing sequence of the sequence numbers corresponding to the antenna numbers to obtain the remaining sequence corresponding to the to-be-selected transmitting sequence.

And when the remaining sequence corresponding to the transmission sequence to be selected is obtained, sequentially arranging the antenna numbers of the transmitting antennas according to the increasing sequence of the sequence numbers corresponding to the antenna numbers, obtaining the rearranged antenna numbers, and determining the rearranged antenna numbers as the remaining sequence corresponding to the transmission sequence to be selected.

S504, determining a target transmitting sequence according to the transmitting sequence to be selected and the remainder sequence corresponding to the transmitting sequence to be selected.

Optionally, the remainder sequence may include a remainder number, the remainder number is used to identify the remainder sequence, and the number of the remainder numbers may be the same as the number of the transmitting antennas. The remainder numbers are the antenna numbers rearranged according to the transmission order to be selected. For example, when the remainder order is 0, 4, 3, 2, 5, 1, there may be six remainder numbers, and correspondingly, the remainder numbers are 0, 4, 3, 2, 5, 1, respectively.

Optionally, the target transmission order may be determined according to the to-be-selected transmission order and the remainder order corresponding to the to-be-selected transmission order by the following feasible implementation manner: determining a remainder number corresponding to each sequence number in the to-be-selected transmitting sequence in the remainder sequence corresponding to the to-be-selected transmitting sequence; and comparing the sequence numbers with the remainder numbers, and determining the to-be-selected transmitting sequence as a target transmitting sequence if each sequence number in the to-be-selected transmitting sequence is different from the corresponding remainder number.

Optionally, in the sequence numbers of the target transmission sequence, the first sequence number may be a fixed sequence number, for example, when the transmission antennas are six groups, the first sequence number may be 1, and correspondingly, the first sequence number of the remaining sequence is 0.

Next, the determination of the target transmission order of the plurality of groups of transmission antennas is described by using a specific example.

Illustratively, when the transmitting antennas are 6 groups, the numbers of the transmitting antennas are respectively 0, 1, 2, 3, 4, and 5, a group of candidate transmitting sequences may be 1, 6, 4, 3, 2, and 5, and the numbers of the transmitting antennas and the candidate transmitting sequences may be as shown in table 1:

TABLE 1

Numbering of transmitting antennas	0	1	2	3	4	5
							Pending launch sequence	1	6	4	3	2	5

According to the method, the sequences of the remainder items are determined to be 0, 4, 3, 2, 5 and 1 according to the serial numbers of the transmitting antennas and the transmitting sequence to be selected, and the sequences of the remainder items can be shown in table 2:

TABLE 2

Numbering of transmitting antennas	0	1	2	3	4	5
							Pending launch sequence	1	6	4	3	2	5
Sequence of the remainder	0	4	3	2	5	1

As shown in table 2, each sequence number of the candidate transmission sequence is different from the remainder number of the remainder sequence corresponding to each sequence number, and therefore, it can be determined that the candidate transmission sequence is the target transmission sequence.

Of course, on the basis of the examples shown in tables 1 to 2, when the transmitting antennas are six groups, the target transmitting sequence may include multiple groups of target transmitting sequences in addition to the target transmitting sequence in the above example, specifically, multiple groups of target transmitting sequences may be determined according to the method for determining the target transmitting sequence described above:

when the transmitting antennas are 6 groups, the antenna for fixing the first transmitting signal is the transmitting antenna with the number of 0, so that the number of the transmission sequences to be selected can be determined according to the following formula:

in 120 sets of candidate transmission sequences, according to the method for determining a target transmission sequence described above, the candidate transmission sequences having each sequence number of the candidate transmission sequences identical to the remainder number of the remainder sequence corresponding to each sequence number are deleted, so as to screen out multiple sets of target transmission sequences, which may be as shown in table 3:

TABLE 3

It should be noted that, in the above example, the target transmission order of the multiple groups determined when the number of the transmission antennas is 6 is only used, and the target transmission order is not limited. When the number of the transmitting antennas is other numbers, the target transmitting sequence can be determined and obtained according to the method, which is not described herein again.

On the basis of the above embodiment, another measurement information acquisition method provided in the embodiment of the present application is described below with reference to fig. 6.

Fig. 6 is a schematic flowchart of another measurement information obtaining method according to an embodiment of the present application. Referring to fig. 6, the method may include:

s601, determining the target transmitting sequence of the multiple groups of transmitting antennas.

It should be noted that the execution process of S601 may refer to the execution process of S401a, and details are not described here.

And S602, controlling a plurality of groups of transmitting antennas to respectively transmit transmitting signals according to the target transmitting sequence.

It should be noted that the execution process of S602 may refer to the execution process of S401, and is not described herein again.

And S603, receiving the echo signal through a receiving antenna.

It should be noted that the execution process of S603 may refer to the execution process of S402, and details are not described here.

And S604, performing phase compensation on the echo signal to obtain a compensated signal.

Optionally, the phase compensation may be performed on the echo signal by: and acquiring a remainder sequence, determining a phase compensation coefficient according to the remainder sequence, and performing phase compensation on the echo signal according to the phase compensation coefficient.

For example, the remainder is in the order of 0, 4, 3, 2, 5, 1, and the phase compensation coefficients of the transmission signals of the multiple groups of transmission antennas can be expressed as follows:

where M denotes the number of transmit antennas, p denotes the number of ambiguity times, n denotes the number of phase compensation times, and j denotes the imaginary unit of the signal.

The echo signal may be obtained by mixing a plurality of transmission signals, and the echo signal may be represented by the phase, amplitude and frequency of the signal, for example, when the echo signal is obtained by mixing six sets of transmission signals, the echo signal may be represented as follows:

where d denotes the spacing between adjacent transmitting antennas, theta denotes the reception angle of the echo signal,_fd0representing the doppler frequency, j represents the imaginary unit of the signal,_fambdenotes a folded doppler frequency, λ denotes a signal wavelength, n denotes a phase compensation number, and T denotes a signal period.

When the phase compensation is performed on the echo signal according to the phase compensation coefficient, the compensated signal can be obtained by multiplying the echo signal by the phase compensation coefficient, and the specific implementation process is as follows:

it can be determined from the above formula that the phase compensation can be accurately performed only when p is equal to n, and thus an accurate compensated signal is obtained. In the following, referring to fig. 7 and 8, taking six groups of transmitting antennas as an example, the signals after phase compensation are compared and explained from two dimensions of the prior art and the present application, respectively.

Fig. 7 is a diagram illustrating phase compensation of an echo signal in the prior art. Referring to fig. 7, the transmitting sequence of the transmitting antennas is the same as the arrangement sequence of the transmitting antennas, when the transmitting antennas are six groups, the maximum fuzzy number of the target object is 4, the echo signals are respectively phase-compensated according to the 4 fuzzy numbers, the compensated signals are as shown in fig. 7, the effective signals of the target object appear at four positions, and the main lobe peak values of each signal are the same, so that the effective signals cannot be accurately determined according to the compensated signals.

Fig. 8 is a schematic diagram of phase compensation of echo signals according to the present application. Referring to fig. 8, the transmitting order of the transmitting antennas is different from the arranging order of the transmitting antennas (shown by the transmitting order of 1, 6, 4, 3, 2, 5), and the transmitting antennas are six groups, so that the maximum blurring number of the target object is 4, the echo signal is phase-compensated according to the blurring of 4 times, respectively, the compensated signal is as shown in fig. 8, when the blurring number is the same as the phase-compensation number, the signal has a peak, and when the blurring number is different from the phase-compensation number, the signal does not have a peak, and thus, the signal having a peak is an effective signal of the target object.

And S605, performing Fast Fourier Transform (FFT) on the compensated signal to obtain a transformed signal.

The controller can sample the echo signal of radar, specifically, sample the echo signal respectively in fast time domain and slow time domain, carry out FFT to it and handle, and then obtain the echo signal of frequency domain, and the controller can confirm the measuring information of target object according to the echo signal's of frequency domain characteristic, and wherein, the echo signal's characteristic can include characteristics such as amplitude, phase place and frequency.

And S606, determining measurement information according to the converted signals.

Alternatively, the measurement information may be determined from the transformed signal in a feasible manner as follows: acquiring the fuzzy times of the transformed signal; and determining the measurement information according to the fuzzy times.

For example, as shown in fig. 8, the number of times of blurring corresponding to the effective signal of the target object is 3, and therefore, the number of times of blurring of the converted signal is 3, and the measurement information can be determined according to the number of times of modulus and the amplitude and phase of the converted signal. The measurement information may include a pitch angle, a position, or a velocity of the target object.

Fig. 9 is a schematic structural diagram of a measurement information obtaining apparatus according to an embodiment of the present application. Referring to fig. 9, the apparatus 10 is applied to a radar including a plurality of sets of transmitting antennas and a set of receiving antennas, and includes:

a control module 11, configured to control the multiple groups of transmitting antennas to respectively send transmitting signals according to a target transmitting sequence, where the target transmitting sequence and a remainder sequence corresponding to the target transmitting sequence satisfy a preset condition, and the remainder sequence is obtained by sorting antenna numbers of the multiple groups of transmitting antennas according to the target transmitting sequence;

a receiving module 12, configured to receive an echo signal through the receiving antenna, where the echo signal is obtained by mixing multiple transmitting signals;

and the processing module 13 is configured to process the echo signal and determine measurement information of the target object.

The measurement information obtaining apparatus provided in the embodiment of the present application may implement the technical solution shown in the above method embodiment, and the implementation principle and the beneficial effect thereof are similar, and are not described herein again.

Fig. 10 is a schematic structural diagram of another measurement information acquisition device according to an embodiment of the present application. Referring to fig. 10, the apparatus 10 further includes a determining module 14, where the determining module 14 is configured to determine a target transmission order of the multiple groups of transmitting antennas, and the determining module 14 is specifically configured to:

determining a transmission sequence to be selected;

In one possible embodiment, the transmission order to be selected includes an order number; the determining module 14 is specifically configured to:

determining an antenna number corresponding to each sequence number in a to-be-selected transmitting sequence aiming at the to-be-selected transmitting sequence;

In one possible implementation, the remainder order includes a remainder number; the determining module 14 is specifically configured to:

In a possible implementation, the processing module 13 is specifically configured to:

determining the measurement information from the transformed signal.

acquiring the fuzzy times of the transformed signal;

and determining the measurement information according to the fuzzy times.

Fig. 11 is a schematic diagram of a hardware structure of a measurement information acquiring apparatus according to an embodiment of the present application. Referring to fig. 11, the measurement information acquiring apparatus 20 may include: a processor 21 and a memory 22, wherein the processor 21 and the memory 22 may communicate; illustratively, the processor 21 and the memory 22 communicate via a communication bus 23, the memory 22 is configured to store program instructions, and the processor 21 is configured to call the program instructions in the memory to perform the measurement information obtaining method according to any of the above-described method embodiments.

Optionally, the measurement information obtaining device 20 may further include a communication interface, which may include a transmitter and/or a receiver.

Optionally, the Processor may be a Central Processing Unit (CPU), or may be another general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The steps of a method disclosed in connection with the present application may be embodied directly in a hardware processor, or in a combination of the hardware and software modules in the processor.

An embodiment of the present application provides a readable storage medium, on which a computer program is stored; the computer program is for implementing the measurement information acquisition method according to any of the embodiments described above.

The embodiment of the application provides a computer program product, which comprises instructions, and when the instructions are executed, the instructions cause a computer to execute the measurement information acquisition method.

All or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The aforementioned program may be stored in a readable memory. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned memory (storage medium) includes: read-only memory (ROM), RAM, flash memory, hard disk, solid state disk, magnetic tape (magnetic tape), floppy disk (flexible disk), optical disk (optical disk), and any combination thereof.

Embodiments of the present application are described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processing unit of a general purpose computer, special purpose computer, embedded processor, or other programmable measurement information acquisition device to produce a machine, such that the instructions, which execute via the processing unit of the computer or other programmable measurement information acquisition device, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable measurement information acquisition device to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable measurement information acquisition device to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

It will be apparent to those skilled in the art that various changes and modifications may be made in the embodiments of the present application without departing from the spirit and scope of the application. Thus, if such modifications and variations of the embodiments of the present application fall within the scope of the claims of the present application and their equivalents, the present application is also intended to encompass such modifications and variations.

In the present application, the terms "include" and variations thereof may refer to non-limiting inclusions; the term "or" and variations thereof may mean "and/or". The terms "first," "second," and the like in this application are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. In the present application, "a plurality" means two or more. "and/or" describes the association relationship of the associated objects, meaning that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. The character "/" generally indicates that the former and latter associated objects are in an "or" relationship.

Claims

1. A measurement information acquisition method is applied to a radar which comprises a plurality of groups of transmitting antennas and at least one group of receiving antennas which are equally spaced, and the method comprises the following steps:

2. The method of claim 1, wherein before controlling the plurality of groups of transmit antennas to transmit the transmit signals respectively according to the target transmit order, determining the target transmit order of the plurality of groups of transmit antennas further comprises:

determining a transmission sequence to be selected;

3. The method of claim 2, wherein the candidate transmission order comprises an order number; the sequencing the antenna numbers of the plurality of groups of transmitting antennas according to the to-be-selected transmitting sequence to obtain a remainder sequence corresponding to the to-be-selected transmitting sequence, comprising:

4. The method of claim 3, wherein the remainder order comprises a remainder number; determining the target transmitting sequence according to the to-be-selected transmitting sequence and the remainder sequence corresponding to the to-be-selected transmitting sequence, wherein the determining the target transmitting sequence comprises:

5. The method according to any one of claims 1-3, wherein said processing the echo signals to determine measurement information of the target object comprises:

determining the measurement information from the transformed signal.

6. The method of claim 5, wherein determining the measurement information from the transformed signal comprises:

acquiring the fuzzy times of the transformed signal;

and determining the measurement information according to the fuzzy times.

7. A measurement information acquisition apparatus, applied to a radar including a plurality of sets of transmission antennas and at least one set of reception antennas that are equally spaced, the apparatus comprising:

8. A measurement information acquisition apparatus characterized by comprising: at least one processor and memory;

the memory is to store computer program instructions;

the at least one processor is configured to execute the memory-stored computer program instructions to cause the at least one processor to perform the measurement information acquisition method of any of claims 1 to 6.

9. A computer-readable storage medium, characterized in that a computer program of instructions is stored in the computer-readable storage medium, which when executed by a processor, implements the measurement information acquisition method according to any one of claims 1 to 7.

10. A computer program product comprising a computer program, characterized in that the computer program realizes the measurement information acquisition method according to any one of claims 1 to 6 when executed by a processor.